添加计步以及测距

zhangbo

2025-05-15 950676ea7305bb90e08ec88bcac40e4c47fcefca

 keil/include/src/Radio/lora_1268.c

@@ -15,6 +15,7 @@
#include "HIDO_TypeDef.h"
#include "PCA9555.h"
#include "mk_misc.h"
//#include "lis3dh_driver.c"
/********************************************结构体**************************************************************/
typedef enum
{
@@ -183,6 +184,9 @@
extern uint8_t stationary_flag;
extern uint8_t SOS_KEY_STATE;
uint32_t LORA_POLL_COUNT=0;
extern uint32_t step_count;
uint8_t step_count_rep;
//extern u16_m f_step;
void LoraReportPoll(void)
{
    // delay_ms(100);
@@ -195,13 +199,13 @@
    printf("气压值：%d",intheight);
#endif

//    TagListUpdate();
    TagListUpdate();

    LoraReportFreqPoll();
    flag_getwgresp = 0;

    SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,g_com_map[LORA_POWER]);

    SwitchLoraSettings(wg_report_freq,REPORT_CHANNEL_SF,22);
    mir3da_get_step();
    if(heatbeat_count++>HEATBEAT_UPDATE_TIME && WG_Connected == wg_state) //如果心跳包到达上传时间，并且网关处于链接状态，就上传心跳包
    {
        heatbeat_count = 0;
@@ -278,12 +282,18 @@
    memcpy(&lora_sendbuffer[LORA_RETRANSNUSSION_BT+1],&DMA_RXBuf_BT[0],BT_NUM*2+1);                            //基站ID
    memcpy(&lora_sendbuffer[LORA_RETRANSNUSSION_BT+BT_NUM*2+2],&DMA_RXBuf_BT[1+BT_NUM*2],BT_NUM*2);//基站距离      
      lora_sendbuffer[MSG_LENGTH] = LORA_RETRANSNUSSION_BT+4*BT_NUM+2;
		
      if(step_count < 0)
         step_count=0;
      lora_sendbuffer[STEP_COUNT] = (uint8_t)(step_count % 256);
		
//      }
//      if(lora_sendbuffer[LORA_RETRANSNUSSION_BT]==0x2D)
//      {
      checksum = Checksum_u16(lora_sendbuffer,4*BT_NUM+4*report_ancnum+BT_ANCID_IDX+3);
      memcpy(&lora_sendbuffer[LORA_RETRANSNUSSION_BT+BT_NUM*4+2],&checksum,2);
      BT_SEND_flag=BT_ANCID_IDX+report_ancnum*4+BT_NUM*4+5;
		
      Radio.Send(lora_sendbuffer,BT_SEND_flag);   
      LORA_POLL_COUNT++;
//      LORA_3029_SINGLE_SEND(lora_sendbuffer,ANCID_IDX+report_ancnum*4+BT_NUM*4+4,0);
@@ -543,7 +553,7 @@
//                                    }
//                                    if(abs(sleep_time_count_LAST-sleep_time_count)>2000||REV_WG_pack==1)
//                                    {
                                     sleep_timer_start(sleep_time_count);
//                                     sleep_timer_start(sleep_time_count);
                                       time_count++;
//                                    }
                        break;
@@ -592,6 +602,17 @@
                                          break; 
                              }
                           }
                           if(RX_Buffer[MSG_TYPE_IDX]==LORA_MSGTYPE_RANGEPOLL)
                           {
		            
//                              uwb_open();

////                              UwbRange();
				      
//                              uwb_ceju_count++;
                           }
									
									
                        }

                     }